CN114604760A - Intelligent tower crane structure arranged below cockpit and control method thereof - Google Patents
Intelligent tower crane structure arranged below cockpit and control method thereof Download PDFInfo
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- CN114604760A CN114604760A CN202210077033.0A CN202210077033A CN114604760A CN 114604760 A CN114604760 A CN 114604760A CN 202210077033 A CN202210077033 A CN 202210077033A CN 114604760 A CN114604760 A CN 114604760A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/95—Computational photography systems, e.g. light-field imaging systems
- H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The embodiment of the application provides an intelligent tower crane structure arranged below a cockpit and a control method thereof. The method comprises the following steps: under a manual control mode, the panoramic video display carries out panoramic stitching according to videos in different directions at the junction of the tower body and the main beam, simulates a panoramic view at the junction of the tower body and the main beam and sends the panoramic view to the panoramic video display in the cockpit; the height sensor sends the height information of the lifting hook to the tower crane controller, and the tower crane controller prompts a user to select to watch the panoramic video display to carry out a high-altitude operation mode or close the panoramic video display to enter a lower operation mode according to the height information of the lifting hook; and in the unmanned driving mode, the millimeter wave radar is started, and the tower crane controller intelligently plans the traveling route of the tower crane and/or the hoisting route of the lifting hook according to the real-time signal of the millimeter wave radar. According to the method and the device, the manual control mode and the unmanned mode can be switched according to whether people exist in the cockpit or not, and the high-low altitude visual angle can be intelligently and flexibly switched.
Description
Technical Field
The application relates to the technical field of intelligent tower cranes, in particular to an intelligent tower crane structure arranged below a cockpit and a control method thereof.
Background
At present, the tower crane is basically operated and controlled by personnel at the junction of a tower body and a main cross beam on the tower crane. For the tower crane industry, the current development direction is unmanned tower cranes and intelligent tower cranes, so that a lot of technical problems can be encountered in the industrial upgrading process.
The existing control tower crane is divided into two types, one type is a tower crane with a cockpit arranged on the upper portion, the cockpit is located near the junction of a main cross beam and a tower body, a controller can only observe the tower crane from high altitude, and when a material level is located on the ground, a driver often cannot see the tower crane from the ground clearly and therefore operation accuracy is affected; the other type is a tower crane arranged below a cockpit, the cockpit is located near the ground of a tower body, a controller can only observe at low altitude or on the ground, and when the material level is at high altitude, the accuracy of operation is affected by the fact that the driver often cannot see clearly at a distance from high altitude, and the problems of inaccurate operation, even error and the like can be caused.
Moreover, the tower cranes arranged below the current cockpit are all operated by people, and have no unmanned tower cranes or tower cranes arranged below the cockpit with two compatible modes.
Disclosure of Invention
In view of this, the purpose of this application is to provide an intelligent tower crane structure that cockpit is put down and control method thereof, and this application can the problem of the existing tower crane high-low altitude control of solution pertinence and can not be compatible unmanned.
Based on the above purpose, the application provides an intelligent tower crane control method for a lower cockpit, comprising the following steps:
a plurality of cameras are respectively arranged in a plurality of directions at the junction of the tower body and the main cross beam and are used for collecting videos in different directions at the junction of the tower body and the main cross beam and sending the videos to a panoramic video display in a lower cockpit; a millimeter wave radar is arranged on the main beam, a pressure sensor is arranged under a cockpit seat, and a height sensor is arranged on the lifting hook;
the pressure sensor senses a pressure value of the operating seat, and when the pressure value is within a preset range, the control mode of the tower crane controller is switched to a manual control mode; when the pressure value is not within a preset range, switching the control mode of the tower crane controller to an unmanned mode;
under the manual control mode, the panoramic video display carries out panoramic stitching according to videos of different directions at the junction of the tower body and the main beam, simulates a panoramic view at the junction of the tower body and the main beam and sends the panoramic view to the panoramic video display in the cockpit;
the height sensor sends the height information of the lifting hook to the tower crane controller, and the tower crane controller prompts a user to select to watch the panoramic video display to carry out a high-altitude operation mode or close the panoramic video display to enter a lower operation mode according to the height information of the lifting hook;
and in the unmanned driving mode, the millimeter wave radar is started, and the tower crane controller intelligently plans the traveling route of the tower crane and/or the hoisting route of the lifting hook according to the real-time signal of the millimeter wave radar.
Further, a plurality of cameras are respectively installed on a plurality of directions of the junction of the tower body and the main beam, and are used for collecting videos of different directions of the junction of the tower body and the main beam and sending the videos to a panoramic video display in a lower cockpit, and the panoramic video display comprises:
installing at least six cameras at the junction of a tower body of the tower crane and a main cross beam, wherein the six cameras are respectively aligned to the front, rear, left, right, upper and lower directions of the junction of the tower body and the main cross beam;
and the six cameras collect the videos of the six directions and send the videos to the panoramic video display in a wired or wireless mode.
Further, the panoramic video display carries out panoramic stitching according to videos of the junction of the tower body and the main beam in different directions, simulates a panoramic view of the junction of the tower body and the main beam and sends the panoramic view to the panoramic video display in the cockpit, and the panoramic video display comprises:
calculating an image transformation matrix through six images of the video of the six cameras at the infinite depth to obtain a reference plane image transformation matrix at the infinite depth;
calibrating other depth information values to a plurality of different depth levels, and obtaining a planar image transformation matrix at the depth information value corresponding to each depth level; wherein, the depth information value refers to the distance from the object to the imaging plane;
performing geometric transformation on six images of the six videos at the infinite depth by using the reference plane image transformation matrix to obtain a synthetic image serving as a reference panoramic image;
calculating current depth information values of overlapping areas of the six videos, and obtaining a synthetic image serving as a panoramic image of the overlapping area according to the depth grade corresponding to the current depth information values and the corresponding planar image transformation matrix;
performing mixed rendering on the overlapping area panoramic image and the reference panoramic image to form a current panoramic video image;
and sending the video subjected to panoramic stitching to a panoramic video display in a cockpit.
Further, the panoramic video display carries out panoramic stitching according to the videos of the tower body and the main beam junction in different directions, simulates the panoramic view of the tower body and the main beam junction and sends the panoramic video display to the cockpit, and the method comprises the following steps:
performing image enhancement processing on the video images in different directions at the junction of the tower body and the main cross beam by adopting homomorphic filtering, histogram equalization and least square filtering algorithms;
performing image splicing according to a preset lookup table file and video images in different directions at the junction of the tower body and the main beam after image enhancement; establishing a coordinate system by taking a camera image right in front of the junction of the tower body and the main beam as a reference according to the lookup table file, and converting camera images in other directions into the coordinate system to finish image splicing; the front part of the junction of the tower body and the main cross beam refers to the direction of the main cross beam pointing to the lifting hook;
fusing image splicing seams of adjacent cameras according to the spliced video images in different directions at the junction of the tower body and the main beam and a preset fusion algorithm;
and sending the video subjected to panoramic stitching to a panoramic video display in a cockpit.
Further, the panoramic video display carries out panoramic stitching according to videos of the junction of the tower body and the main beam in different directions, simulates a panoramic view of the junction of the tower body and the main beam and sends the panoramic view to the panoramic video display in the cockpit, and the panoramic video display comprises:
(1) initializing the system, and simultaneously configuring each of a plurality of cameras by using the same configuration line; (2) respectively reading the video data of each camera at different time intervals through the FPGA; (3) carrying out image distortion correction; (4) carrying out image registration and splicing through the FPGA; (5) carrying out image fusion; (6) and sending the video subjected to panoramic stitching to a panoramic video display in a cockpit.
Further, the height sensor sends the height information of the hook to the tower crane controller, and the tower crane controller prompts a user to select to watch the panoramic video display for a high-altitude operation mode or close the panoramic video display to enter a lower-level operation mode according to the height information of the hook, including:
the height sensor sends the height information of the lifting hook to the tower crane controller;
the tower crane controller searches whether the current tower crane task is suitable for high-altitude observation or ground observation according to the height information of the lifting hook;
according to the fact that the current tower crane task is suitable for high-altitude observation, the tower crane controller prompts a user to select to watch the panoramic video display to carry out a high-altitude operation mode;
and according to the current tower crane task, the tower crane controller is suitable for ground observation, and the tower crane controller closes the panoramic video display and prompts a user to enter a lower operation mode.
Further, under the unmanned mode, start the millimeter wave radar, the tower crane controller carries out intelligent path planning to the route of marcing of tower crane, and/or the hoist and mount route of lifting hook according to the real-time signal of millimeter wave radar, include:
according to a preset tower crane task, acquiring a starting point and an end point of a traveling route of a tower crane and/or a starting point and an end point of a hoisting path of a lifting hook based on a construction site map;
acquiring a shortest path between the initial point and the end point based on the initial point and the end point;
scanning a shortest path between the starting point and the end point by using a millimeter wave radar, if finding that no barrier exists on the shortest path, executing a hoisting task according to the shortest path, and if finding that the barrier exists on the shortest path, avoiding the barrier according to an obstacle avoidance algorithm.
Based on above-mentioned purpose, this application has still provided an intelligent tower crane structure of putting under cockpit, includes:
the sensor module is used for respectively installing a plurality of cameras in a plurality of directions at the junction of the tower body and the main cross beam, and is used for collecting videos in different directions at the junction of the tower body and the main cross beam and sending the videos to a panoramic video display in a lower cockpit; a millimeter wave radar is arranged on the main beam, a pressure sensor is arranged under a cockpit seat, and a height sensor is arranged on the lifting hook;
the mode switching module is used for sensing a pressure value of the operating seat by the pressure sensor and switching the control mode of the tower crane controller into a manual control mode when the pressure value is within a preset range; when the pressure value is not within a preset range, switching the control mode of the tower crane controller to an unmanned mode;
the panoramic stitching module is used for carrying out panoramic stitching on the panoramic video display according to videos of the junction of the tower body and the main beam in different directions under the manual control mode, simulating a panoramic view of the junction of the tower body and the main beam and sending the panoramic view to the panoramic video display in the cockpit;
the system comprises a mode selection module, a tower crane controller and a control module, wherein the mode selection module is used for sending height information of a lifting hook to the tower crane controller by a height sensor, and the tower crane controller prompts a user to select to watch a panoramic video display to carry out a high-altitude operation mode or close the panoramic video display to enter a lower operation mode according to the height information of the lifting hook;
and the unmanned module is used for starting the millimeter wave radar in an unmanned mode, and the tower crane controller carries out intelligent path planning on the advancing route of the tower crane and/or the hoisting path of the lifting hook according to the real-time signal of the millimeter wave radar.
In general, the advantages of the present application and the experience brought to the user are:
this application can be according to the cockpit whether someone switches manual control mode and unmanned mode to on-the-spot panorama video acquisition mode makes the operating personnel who is located under the cockpit and puts intelligent tower crane central control room can be according to the site operation needs, and intelligent, nimble switching high-low altitude visual angle has greatly richened the intelligent control function and the control effect of tower crane.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
Fig. 1 shows a schematic diagram of the system architecture of the present application.
Fig. 2 shows a flowchart of an intelligent tower crane control method under a cockpit according to an embodiment of the present application.
Fig. 3 shows a structural diagram of an intelligent tower crane structure placed under a cockpit according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 5 is a schematic diagram of a storage medium provided in an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 shows a schematic diagram of the system architecture of the present application. In the embodiment of this application, equipment includes electronic controlled tower crane (contains tower crane body and main beam juncture), 2 at least cameras, height sensor, panorama video display ware, pressure sensor, tower crane controller etc.. The electric controlled tower crane at least comprises a tower crane main body, a main cross beam, a hook, a clamp and an underneath cockpit, wherein the underneath cockpit comprises a tower crane controller, can receive tower crane operation instructions and execute corresponding operations, and controls the tower crane to execute corresponding tasks.
Under a manual control mode, the panoramic video display carries out panoramic stitching according to videos in different directions at the junction of the tower body and the main beam, simulates a panoramic view at the junction of the tower body and the main beam and sends the panoramic view to the panoramic video display in the cockpit; the height sensor sends the height information of the lifting hook to the tower crane controller, and the tower crane controller prompts a user to select to watch the panoramic video display to carry out a high-altitude operation mode or close the panoramic video display to enter a lower operation mode according to the height information of the lifting hook; and in the unmanned driving mode, the millimeter wave radar is started, and the tower crane controller intelligently plans the traveling route of the tower crane and/or the hoisting route of the lifting hook according to the real-time signal of the millimeter wave radar.
Fig. 2 shows a flowchart of an intelligent tower crane control method under a cockpit according to an embodiment of the present application. As shown in fig. 2, the control method of the intelligent tower crane arranged under the cockpit comprises the following steps:
step 101: a plurality of cameras are respectively arranged in a plurality of directions at the junction of the tower body and the main cross beam and are used for collecting videos in different directions at the junction of the tower body and the main cross beam and sending the videos to a panoramic video display in a lower cockpit; a millimeter wave radar is arranged on the main beam, a pressure sensor is arranged under a cockpit seat, and a height sensor is arranged on the lifting hook;
in the embodiment, at least six cameras are arranged at the junction of a tower body of the tower crane and a main cross beam, and the six cameras are respectively aligned to the front, rear, left, right, upper and lower six positions of the junction of the tower body and the main cross beam;
and the six cameras collect the videos of the six directions and send the videos to the panoramic video display in a wired or wireless mode.
In order to enable the remote operation of an operator to be similar to a real scene, the method and the device have the advantages that video images in multiple directions of the junction of the tower body of the electric controlled tower crane and the main cross beam are collected and subjected to panoramic splicing, the video scene of the high-altitude construction environment is simulated and presented to a user, the user can feel as if he/she is in the scene, and therefore the tower crane construction is carried out more accurately.
In this embodiment, since the actual tower crane includes a plurality of types, for the mobile tower crane, the electric controlled tower crane may further include a transport vehicle, and the transport vehicle may bear the tower crane body model and perform corresponding movement according to the instruction of the program control computer, so as to perform an actual tower crane task.
Step 102: the pressure sensor senses a pressure value of the operating seat, and when the pressure value is within a preset range, the control mode of the tower crane controller is switched to a manual control mode; and when the pressure value is not within the preset range, switching the control mode of the tower crane controller to an unmanned mode.
In this embodiment, the pressure sensor may be a ceramic pressure sensor, but other types of pressure sensors may also be implemented. By collecting the pressure condition of the operating seat, for example, the weight of a general person is between 80 jin and 250 jin, if the pressure value is in the interval, the person can be considered to be sitting on the operating seat. When people are on the operating platform, manual control can be switched to, and the tower crane operation is carried out by people. When the operation panel is unattended, the operation panel can be timely switched to an unmanned automatic control mode to continue to execute the construction task of the tower crane, so that the semi-automatic control of the transmission of the tower crane is realized, the tower crane can be operated no matter whether people exist in the control panel or not, and the construction efficiency is improved.
Step 103: and under the manual control mode, the panoramic video display carries out panoramic stitching according to videos of different directions at the junction of the tower body and the main beam, simulates a panoramic view at the junction of the tower body and the main beam and sends the panoramic view to the panoramic video display in the cockpit.
In the invention, three panoramic video splicing algorithms are designed to realize the splicing of multi-angle videos in a cab, so that 360-degree panoramic experience is generated.
The first panorama stitching algorithm comprises:
calculating an image transformation matrix through six images of the video of the six cameras at the infinite depth to obtain a reference plane image transformation matrix at the infinite depth;
calibrating other depth information values to a plurality of different depth levels, and obtaining a planar image transformation matrix at the depth information value corresponding to each depth level; wherein, the depth information value refers to the distance from the object to the imaging plane;
performing geometric transformation on six images of the six videos at the infinite depth by using the reference plane image transformation matrix to obtain a synthetic image serving as a reference panoramic image;
calculating current depth information values of overlapping areas of the six videos, and obtaining a synthetic image serving as a panoramic image of the overlapping area according to the depth grade corresponding to the current depth information values and the corresponding planar image transformation matrix;
performing mixed rendering on the overlapping area panoramic image and the reference panoramic image to form a current panoramic video image;
and sending the video subjected to panoramic stitching to a panoramic video display in a cockpit.
The second panorama stitching algorithm comprises:
performing image enhancement processing on the video images in different directions at the junction of the tower body and the main cross beam by adopting homomorphic filtering, histogram equalization and least square filtering algorithms;
performing image splicing according to a preset lookup table file and video images in different directions at the junction of the tower body and the main cross beam after image enhancement; establishing a coordinate system by taking a camera image right in front of the junction of the tower body and the main beam as a reference according to the lookup table file, and converting camera images in other directions into the coordinate system to finish image splicing; the front part of the junction of the tower body and the main cross beam refers to the direction of the main cross beam pointing to the lifting hook;
fusing image splicing seams of adjacent cameras according to the spliced video images in different directions at the junction of the tower body and the main cross beam and a preset fusion algorithm;
and sending the video subjected to panoramic stitching to a panoramic video display in a cockpit.
The third panorama stitching algorithm comprises: (1) initializing the system, and simultaneously configuring each of the plurality of cameras by using the same configuration line; (2) respectively reading the video data of each camera at different time intervals through the FPGA; (3) carrying out image distortion correction; (4) carrying out image registration and splicing through the FPGA; (5) carrying out image fusion; (6) and sending the video subjected to panoramic stitching to a panoramic video display in a cockpit.
The three panoramic stitching algorithms can be implemented by selecting one of the three panoramic stitching algorithms according to the specific situation and the complexity of a construction site and by considering the implementation cost of hardware and software.
Step 104: the height sensor sends the height information of the lifting hook to the tower crane controller, the tower crane controller prompts a user to select to watch the panoramic video display to carry out a high-altitude operation mode according to the height information of the lifting hook, or closes the panoramic video display to enter a lower-placed operation mode, and the method comprises the following steps:
the height sensor sends the height information of the lifting hook to the tower crane controller;
the tower crane controller searches whether the current tower crane task is suitable for high-altitude observation or ground observation according to the height information of the lifting hook; the search is a table search which is arranged according to the high-low altitude operation guide or the general industry example, for example, a prefabricated table which is firstly designed according to the high-altitude convention that tower crane tasks such as various steels, woods, cements and the like are suitable for high altitude or ground observation operation is stored in a database for search, for example, the following table:
according to the fact that the current tower crane task is suitable for high-altitude observation, the tower crane controller prompts a user to select to watch the panoramic video display to carry out a high-altitude operation mode; the panoramic video display may prompt the driver in the form of voice, display screen video prompts, etc., and provide a mode such as a dialog box or button for the driver to select yes or no or provide an option click, etc. Of course, the user may select to switch to the high-altitude operation mode, or may select not to switch to the high-altitude operation mode and continue to adopt the down-mounted operation mode according to the self condition and the actual field construction. Therefore, the driver can select and control flexibly, the autonomy is strong, and the intelligent control system is intelligent.
And according to the current tower crane task, the tower crane controller is suitable for ground observation, and the tower crane controller closes the panoramic video display and prompts a user to enter a lower operation mode. Of course, the user may select to switch to the lower operation mode, or may select not to switch to the lower operation mode and continue to use the high altitude operation mode according to the self condition and the actual field construction. Therefore, the driver can select and control flexibly, the autonomy is strong, and the intelligent control system is intelligent.
For example, an operator can directly watch and operate the high-altitude panoramic construction process of a tower crane through a panoramic video display, and the high-altitude operation feeling of the operator can be generated.
Step 105: under the unmanned mode, start millimeter wave radar, tower crane controller carries out intelligent path planning to the route of marcing of tower crane according to millimeter wave radar's real-time signal, and/or the hoist and mount route of lifting hook, includes:
according to a preset tower crane task, acquiring a starting point and an end point of a traveling route of a tower crane and/or a starting point and an end point of a hoisting path of a lifting hook based on a construction site map;
acquiring a shortest path between the initial point and the end point based on the initial point and the end point;
scanning a shortest path between the starting point and the end point by using a millimeter wave radar, if finding that no barrier exists on the shortest path, executing a hoisting task according to the shortest path, and if finding that the barrier exists on the shortest path, avoiding the barrier according to an obstacle avoidance algorithm.
The obstacle avoidance algorithm may adopt a common obstacle avoidance algorithm in the field of unmanned driving and automatic driving, and is not described herein again.
This application can be according to the cockpit whether someone switches manual control mode and unmanned mode to on-the-spot panorama video acquisition mode makes the operating personnel who is located under the cockpit and puts intelligent tower crane central control room can be according to the site operation needs, and intelligent, nimble switching high-low altitude visual angle has greatly richened the intelligent control function and the control effect of tower crane.
An application embodiment provides an intelligent tower crane structure under cockpit, and this system is used for carrying out the above-mentioned embodiment intelligent tower crane control method under cockpit, as shown in fig. 3, this system includes:
the sensor module 501 is used for installing a plurality of cameras in a plurality of directions at the junction of the tower body and the main cross beam respectively, and is used for collecting videos in different directions at the junction of the tower body and the main cross beam and sending the videos to a panoramic video display in a lower cockpit; a millimeter wave radar is arranged on the main beam, a pressure sensor is arranged under a cockpit seat, and a height sensor is arranged on the lifting hook;
a mode switching module 502, configured to sense a pressure value of the operating seat by the pressure sensor, and switch a control mode of the tower crane controller to a manual control mode when the pressure value is within a preset range; when the pressure value is not within a preset range, switching the control mode of the tower crane controller to an unmanned mode;
a panoramic stitching module 503, configured to, in the manual control mode, perform panoramic stitching on the panoramic video display according to videos at the junction between the tower body and the main beam in different directions, simulate a panoramic view at the junction between the tower body and the main beam, and send the panoramic view to the panoramic video display in the cockpit;
the mode selection module 504 is used for sending the height information of the hook to the tower crane controller by the height sensor, and the tower crane controller prompts a user to select to watch the panoramic video display to carry out a high-altitude operation mode or close the panoramic video display to enter a lower-level operation mode according to the height information of the hook;
and the unmanned module 505 is used for starting the millimeter wave radar in an unmanned mode, and the tower crane controller performs intelligent path planning on the advancing route of the tower crane and/or the hoisting path of the lifting hook according to the real-time signal of the millimeter wave radar.
The intelligent tower crane structure arranged under the cockpit provided by the embodiment of the application and the intelligent tower crane control method arranged under the cockpit provided by the embodiment of the application have the same inventive concept and have the same beneficial effects as methods adopted, operated or realized by application programs stored in the intelligent tower crane structure.
The embodiment of the application also provides electronic equipment corresponding to the control method of the intelligent tower crane arranged under the cockpit, so as to execute the control method of the intelligent tower crane arranged under the upper cockpit. The embodiments of the present application are not limited.
Referring to fig. 4, a schematic diagram of an electronic device provided in some embodiments of the present application is shown. As shown in fig. 4, the electronic device 2 includes: the system comprises a processor 200, a memory 201, a bus 202 and a communication interface 203, wherein the processor 200, the communication interface 203 and the memory 201 are connected through the bus 202; the memory 201 stores a computer program which can be run on the processor 200, and when the processor 200 runs the computer program, the intelligent tower crane control method provided by any one of the foregoing embodiments of the present application is executed.
The Memory 201 may include a high-speed Random Access Memory (RAM) and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 203 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
The processor 200 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 200. The Processor 200 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201 and completes the steps of the method in combination with the hardware thereof.
The electronic equipment provided by the embodiment of the application and the control method of the intelligent tower crane arranged under the cockpit provided by the embodiment of the application have the same inventive concept and have the same beneficial effects as the method adopted, operated or realized by the electronic equipment.
Referring to fig. 5, the illustrated computer-readable storage medium is an optical disc 30, on which a computer program (i.e., a program product) is stored, and when the computer program is executed by a processor, the method for controlling an intelligent tower crane under a cockpit according to any of the foregoing embodiments may be implemented.
It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory, or other optical and magnetic storage media, which are not described in detail herein.
The computer-readable storage medium provided by the above embodiment of the application and the intelligent tower crane control method under the cockpit provided by the embodiment of the application have the same inventive concept and have the same beneficial effects as the method adopted, operated or realized by the application program stored in the computer-readable storage medium.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, this application is not intended to refer to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present application as described herein, and any descriptions of specific languages are provided above to disclose the best modes of the present application.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in a virtual machine creation system according to embodiments of the present application. The present application may also be embodied as apparatus or system programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present application may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several systems, several of these systems may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present application, and these should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a control method of intelligent tower crane of cockpit underslung which characterized in that includes:
a plurality of cameras are respectively arranged in a plurality of directions at the junction of the tower body and the main cross beam and are used for collecting videos in different directions at the junction of the tower body and the main cross beam and sending the videos to a panoramic video display in a lower cockpit; a millimeter wave radar is arranged on the main beam, a pressure sensor is arranged under a cockpit seat, and a height sensor is arranged on the lifting hook;
the pressure sensor senses a pressure value of the operating seat, and when the pressure value is within a preset range, the control mode of the tower crane controller is switched to a manual control mode; when the pressure value is not within a preset range, switching the control mode of the tower crane controller to an unmanned mode;
under the manual control mode, the panoramic video display carries out panoramic stitching according to videos of different directions at the junction of the tower body and the main beam, simulates a panoramic view at the junction of the tower body and the main beam and sends the panoramic view to the panoramic video display in the cockpit;
the height sensor sends the height information of the lifting hook to the tower crane controller, and the tower crane controller prompts a user to select to watch the panoramic video display to carry out a high-altitude operation mode or close the panoramic video display to enter a lower operation mode according to the height information of the lifting hook;
and in the unmanned driving mode, the millimeter wave radar is started, and the tower crane controller intelligently plans the traveling route of the tower crane and/or the hoisting route of the lifting hook according to the real-time signal of the millimeter wave radar.
2. The method of claim 1,
a plurality of cameras are installed respectively in a plurality of directions at tower body and main beam juncture for gather the video of tower body and main beam juncture different directions and send the panorama video display ware for putting in the cockpit down, include:
installing at least six cameras at the junction of a tower body of the tower crane and a main cross beam, wherein the six cameras are respectively aligned to the front, rear, left, right, upper and lower directions of the junction of the tower body and the main cross beam;
and the six cameras collect the videos of the six directions and send the videos to the panoramic video display in a wired or wireless mode.
3. The method of claim 2,
the panoramic video display carries out the panorama concatenation according to the video of tower body and main beam juncture equidirectional not, the simulation the panoramic view of tower body and main beam juncture to give the panoramic video display in the cockpit, include:
calculating an image transformation matrix through six images of the video of the six cameras at the infinite depth to obtain a reference plane image transformation matrix at the infinite depth;
calibrating other depth information values to a plurality of different depth levels, and obtaining a planar image transformation matrix at the depth information value corresponding to each depth level; wherein, the depth information value refers to the distance from the object to the imaging plane;
performing geometric transformation on six images of the six videos at the infinite depth by using the reference plane image transformation matrix to obtain a synthetic image serving as a reference panoramic image;
calculating current depth information values of overlapping areas of the six videos, and obtaining a synthetic image serving as a panoramic image of the overlapping area according to the depth grade corresponding to the current depth information values and the corresponding planar image transformation matrix;
performing mixed rendering on the overlapping area panoramic image and the reference panoramic image to form a current panoramic video image;
and sending the video subjected to panoramic stitching to a panoramic video display in a cockpit.
4. The method of claim 2,
the panoramic video display carries out the panorama concatenation according to the video of tower body and main beam juncture equidirectional not, the simulation the panoramic view of tower body and main beam juncture to give the panoramic video display in the cockpit, include:
performing image enhancement processing on the video images in different directions at the junction of the tower body and the main cross beam by adopting homomorphic filtering, histogram equalization and least square filtering algorithms;
performing image splicing according to a preset lookup table file and video images in different directions at the junction of the tower body and the main beam after image enhancement; establishing a coordinate system by taking a camera image right in front of the junction of the tower body and the main beam as a reference according to the lookup table file, and converting camera images in other directions into the coordinate system to finish image splicing; the front part of the junction of the tower body and the main cross beam refers to the direction of the main cross beam pointing to the lifting hook;
fusing image splicing seams of adjacent cameras according to the spliced video images in different directions at the junction of the tower body and the main beam and a preset fusion algorithm;
and sending the video subjected to panoramic splicing to a panoramic video display in a cockpit.
5. The method of claim 2,
the panoramic video display carries out the panorama concatenation according to the video of tower body and main beam juncture equidirectional not, the simulation the panoramic view of tower body and main beam juncture to give the panoramic video display in the cockpit, include:
(1) initializing the system, and simultaneously configuring each of a plurality of cameras by using the same configuration line; (2) respectively reading the video data of each camera at different time intervals through the FPGA; (3) carrying out image distortion correction; (4) carrying out image registration and splicing through the FPGA; (5) carrying out image fusion; (6) and sending the video subjected to panoramic stitching to a panoramic video display in a cockpit.
6. The method according to any one of claims 3 to 5,
the height sensor sends the height information of the lifting hook to the tower crane controller, the tower crane controller prompts a user to select to watch the panoramic video display to carry out a high-altitude operation mode according to the height information of the lifting hook, or closes the panoramic video display to enter a lower-mounted operation mode, and the method comprises the following steps:
the height sensor sends the height information of the lifting hook to the tower crane controller;
the tower crane controller searches whether the current tower crane task is suitable for high-altitude observation or ground observation according to the height information of the lifting hook;
according to the fact that the current tower crane task is suitable for high-altitude observation, the tower crane controller prompts a user to select to watch the panoramic video display to carry out a high-altitude operation mode;
and according to the current tower crane task, the tower crane controller is suitable for ground observation, and the tower crane controller closes the panoramic video display and prompts a user to enter a lower operation mode.
7. The method of claim 6,
under the unmanned mode, start the millimeter wave radar, tower crane controller carries out intelligent path planning to the route of marcing of tower crane according to the real-time signal of millimeter wave radar, and/or the hoist and mount route of lifting hook, includes:
according to a preset tower crane task, acquiring a starting point and an end point of a traveling route of a tower crane and/or a starting point and an end point of a hoisting path of a lifting hook based on a construction site map;
acquiring a shortest path between the initial point and the end point based on the initial point and the end point;
scanning a shortest path between the starting point and the end point by using a millimeter wave radar, if finding that no barrier exists on the shortest path, executing a hoisting task according to the shortest path, and if finding that the barrier exists on the shortest path, avoiding the barrier according to an obstacle avoidance algorithm.
8. The utility model provides an intelligent tower crane structure of putting under cockpit which characterized in that includes:
the sensor module is used for respectively installing a plurality of cameras in a plurality of directions at the junction of the tower body and the main cross beam, and is used for collecting videos in different directions at the junction of the tower body and the main cross beam and sending the videos to a panoramic video display in a lower cockpit; a millimeter wave radar is arranged on the main beam, a pressure sensor is arranged under a cockpit seat, and a height sensor is arranged on the lifting hook;
the mode switching module is used for sensing a pressure value of the operating seat by the pressure sensor and switching the control mode of the tower crane controller into a manual control mode when the pressure value is within a preset range; when the pressure value is not within a preset range, switching the control mode of the tower crane controller to an unmanned mode;
the panoramic stitching module is used for carrying out panoramic stitching on the panoramic video display according to videos of the junction of the tower body and the main beam in different directions under the manual control mode, simulating a panoramic view of the junction of the tower body and the main beam and sending the panoramic view to the panoramic video display in the cockpit;
the system comprises a mode selection module, a tower crane controller and a control module, wherein the mode selection module is used for sending height information of a lifting hook to the tower crane controller by a height sensor, and the tower crane controller prompts a user to select to watch a panoramic video display to carry out a high-altitude operation mode or close the panoramic video display to enter a lower operation mode according to the height information of the lifting hook;
and the unmanned module is used for starting the millimeter wave radar in an unmanned mode, and the tower crane controller carries out intelligent path planning on the advancing route of the tower crane and/or the hoisting path of the lifting hook according to the real-time signal of the millimeter wave radar.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor to implement the method according to any of claims 1-7.
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